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report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error.

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erwincoumans
2019-04-11 22:19:02 -07:00
parent 3146f6276b
commit 5ff52e47d9
11 changed files with 144 additions and 9 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2214,6 +2214,19 @@ B3_SHARED_API int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
return CMD_INVALID_STATUS;
}
B3_SHARED_API int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle statusHandle, struct b3ForwardDynamicsAnalyticsArgs* analyticsData)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
//b3Assert(status);
if (status)
{
*analyticsData = status->m_forwardDynamicsAnalyticsArgs;
return status->m_forwardDynamicsAnalyticsArgs.m_numIslands;
}
return 0;
}
B3_SHARED_API int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity)
{
int numBodies = 0;